OpenSim::Mtx Class Reference

A class for performing vector and matrix operations. More...

#include <Mtx.h>

Static Public Member Functions
static double	Angle (const SimTK::Vec3 &aV1, const SimTK::Vec3 &aV2)
	Find the angle between two vectors: theta = acos( aV1aV2/(\|aV1\|\|aV2\|)).
static double	Normalize (int aN, const SimTK::Vec3 &aV, SimTK::Vec3 &rV)
	Normalize a vector.
static double	Magnitude (int aN, const SimTK::Vec3 &aV)
	Compute the magnitude of a vector.
static double	DotProduct (int aN, const SimTK::Vec3 &aV1, const SimTK::Vec3 &aV2)
	Compute the dot product of two vectors.
static void	CrossProduct (const SimTK::Vec3 &aV1, const SimTK::Vec3 &aV2, SimTK::Vec3 &aV)
	Compute the cross product of two vectors.
static void	PerpendicularUnitVector (const SimTK::Vec3 &aV, SimTK::Vec3 &rV)
	Get a unit vector that is perpendicular to a specified vector.
static void	Interpolate (int aN, double aT1, double aY1, double aT2, double aY2, double t, double *aY)
static double	Interpolate (double aT1, double aY1, double aT2, double aY2, double t)
static void	Translate (double aX, double aY, double aZ, const double aP[3], double rP[3])
static void	Rotate (int aXYZ, double aRadians, const double aP[3], double rP[3])
static void	Rotate (const double aAxis[3], double aRadians, const double aP[3], double rP[3])
static void	RotateDeg (int aXYZ, double aDegrees, const double aP[3], double rP[3])
static void	RotateDeg (const double aAxis[3], double aDegrees, const double aP[3], double rP[3])
static int	Identity (int aNR, double *rI)
static int	Add (int aNR, int aNC, const double aM1, const double aM2, double *aM)
static int	Subtract (int aNR, int aNC, const double aM1, const double aM2, double *aM)
static int	Multiply (int aNR, int aNC, const double aM, double aScalar, double rM)
static int	Multiply (int aNR1, int aNCR, int aNC2, const double aM1, const double aM2, double *aM)
static int	Invert (int aN, const double aM, double aMInv)
static int	Transpose (int aNR, int aNC, const double aM, double aMT)
static void	Print (int aNR, int aNC, const double *aM, int aPrecision=8)
static int	FindIndex (int aStartIndex, double aTime, int aNT, double *aT)
static int	FindIndexLess (int aNX, double *aX, double aValue)
static int	FindIndexGreater (int aNX, double *aX, double aValue)
static int	ComputeIndex (int i2, int n1, int i1)
static int	ComputeIndex (int i3, int n2, int i2, int n1, int i1)
static void	GetDim3 (int n3, int n2, int n1, int i2, int i1, double m, double a)
static void	SetDim3 (int n3, int n2, int n1, int i2, int i1, double m, double a)
static int	EnsureWorkSpaceCapacity (int aN)
static int	EnsurePointerSpaceCapacity (int aN)
static void	FreeWorkAndPointerSpaces ()

Detailed Description

A class for performing vector and matrix operations.

Most all the methods in this class are static.

Member Function Documentation

static int OpenSim::Mtx::Add	(	int	aNR,
		int	aNC,
		const double *	aM1,
		const double *	aM2,
		double *	aM
	)			`[static]`

static double OpenSim::Mtx::Angle	(	const SimTK::Vec3 &	aV1,
		const SimTK::Vec3 &	aV2
	)			`[inline, static]`

Find the angle between two vectors: theta = acos( aV1*aV2/(|aV1|*|aV2|)).

Parameters:

	aV1	Vector 1.
	aV2	Vector 2.

Returns:: Angle between two vectors in radians.

static int OpenSim::Mtx::ComputeIndex	(	int	i3,
		int	n2,
		int	i2,
		int	n1,
		int	i1
	)			`[static]`

static int OpenSim::Mtx::ComputeIndex	(	int	i2,
		int	n1,
		int	i1
	)			`[static]`

static void OpenSim::Mtx::CrossProduct	(	const SimTK::Vec3 &	aV1,
		const SimTK::Vec3 &	aV2,
		SimTK::Vec3 &	aV
	)			`[inline, static]`

Compute the cross product of two vectors.

If the arguments are not valid (aR=aS=NULL), -1 is returned.

static double OpenSim::Mtx::DotProduct	(	int	aN,
		const SimTK::Vec3 &	aV1,
		const SimTK::Vec3 &	aV2
	)			`[inline, static]`

Compute the dot product of two vectors.

If the arguments are not valid (aV1=aV2=NULL), 0.0 is returned.

static int OpenSim::Mtx::EnsurePointerSpaceCapacity ( int aN ) [static]

static int OpenSim::Mtx::EnsureWorkSpaceCapacity ( int aN ) [static]

static int OpenSim::Mtx::FindIndex	(	int	aStartIndex,
		double	aTime,
		int	aNT,
		double *	aT
	)			`[static]`

static int OpenSim::Mtx::FindIndexGreater	(	int	aNX,
		double *	aX,
		double	aValue
	)			`[static]`

static int OpenSim::Mtx::FindIndexLess	(	int	aNX,
		double *	aX,
		double	aValue
	)			`[static]`

static void OpenSim::Mtx::FreeWorkAndPointerSpaces ( ) [static]

static void OpenSim::Mtx::GetDim3	(	int	n3,
		int	n2,
		int	n1,
		int	i2,
		int	i1,
		double *	m,
		double *	a
	)			`[static]`

static int OpenSim::Mtx::Identity	(	int	aNR,
		double *	rI
	)			`[static]`

static double OpenSim::Mtx::Interpolate	(	double	aT1,
		double	aY1,
		double	aT2,
		double	aY2,
		double	t
	)			`[static]`

static void OpenSim::Mtx::Interpolate	(	int	aN,
		double	aT1,
		double *	aY1,
		double	aT2,
		double *	aY2,
		double	t,
		double *	aY
	)			`[static]`

static int OpenSim::Mtx::Invert	(	int	aN,
		const double *	aM,
		double *	aMInv
	)			`[static]`

static double OpenSim::Mtx::Magnitude	(	int	aN,
		const SimTK::Vec3 &	aV
	)			`[inline, static]`

Compute the magnitude of a vector.

Parameters:

	aN	Obsolete -- always pass as a "3".
	aV	Vector.

Returns:: Square root of the dot product aV*aV.

static int OpenSim::Mtx::Multiply	(	int	aNR1,
		int	aNCR,
		int	aNC2,
		const double *	aM1,
		const double *	aM2,
		double *	aM
	)			`[static]`

static int OpenSim::Mtx::Multiply	(	int	aNR,
		int	aNC,
		const double *	aM,
		double	aScalar,
		double *	rM
	)			`[static]`

static double OpenSim::Mtx::Normalize	(	int	aN,
		const SimTK::Vec3 &	aV,
		SimTK::Vec3 &	rV
	)			`[inline, static]`

Normalize a vector.

If aV has a magnitude of zero, all elements of rV are set to 0.0. It is permissible for aV and rV to coincide in memory.

Parameters:

	aN	Obsolete -- always pass as a "3".
	aV	Vector to be normalized.
	rV	Result of the normalization.

Returns:: Magnitude of aV.

static void OpenSim::Mtx::PerpendicularUnitVector	(	const SimTK::Vec3 &	aV,
		SimTK::Vec3 &	rV
	)			`[inline, static]`

Get a unit vector that is perpendicular to a specified vector.

The unit vector is arbitrary, in the sense that it is one of an infinite number of vectors that are perpendicular to the original specified vector.

Parameters:

	aV	Input vector.
	rV	Perpendicular unit vector.

static void OpenSim::Mtx::Print	(	int	aNR,
		int	aNC,
		const double *	aM,
		int	aPrecision = `8`
	)			`[static]`

static void OpenSim::Mtx::Rotate	(	const double	aAxis[3],
		double	aRadians,
		const double	aP[3],
		double	rP[3]
	)			`[static]`

static void OpenSim::Mtx::Rotate	(	int	aXYZ,
		double	aRadians,
		const double	aP[3],
		double	rP[3]
	)			`[static]`

static void OpenSim::Mtx::RotateDeg	(	const double	aAxis[3],
		double	aDegrees,
		const double	aP[3],
		double	rP[3]
	)			`[static]`

static void OpenSim::Mtx::RotateDeg	(	int	aXYZ,
		double	aDegrees,
		const double	aP[3],
		double	rP[3]
	)			`[static]`

static void OpenSim::Mtx::SetDim3	(	int	n3,
		int	n2,
		int	n1,
		int	i2,
		int	i1,
		double *	m,
		double *	a
	)			`[static]`

static int OpenSim::Mtx::Subtract	(	int	aNR,
		int	aNC,
		const double *	aM1,
		const double *	aM2,
		double *	aM
	)			`[static]`

static void OpenSim::Mtx::Translate	(	double	aX,
		double	aY,
		double	aZ,
		const double	aP[3],
		double	rP[3]
	)			`[static]`

static int OpenSim::Mtx::Transpose	(	int	aNR,
		int	aNC,
		const double *	aM,
		double *	aMT
	)			`[static]`

The documentation for this class was generated from the following file:

E:/Projects/OpenSimTrunk/OpenSim/Common/Mtx.h

OpenSim::Mtx Class Reference

Static Public Member Functions

Detailed Description

Member Function Documentation